Adding a brake controller ('07 V6 w/4WD Manual) - where to tap stop-cold-side

I have an electronic brake controller I'd like to add to my '07 Tacoma. This requires I upgrade to a 7-pole connector (per the electronic controller) and for that I need to splice into the cold-side of the brake switch circuit. Then I can feed that signal into the electronic controller as it requires.
I probed the brake switch connector and discovered which wire is the cold-side circuit.

My issue is it is very difficult to manage any work (even the probing) at that switch b/c there is no working room nor really any reasonable access to the wire I need to splice onto (much less that it requires working upside down ).

I am worried if I botch the splicing I will create a bigger headache. So I was considering trying to tap that same signal elsewhere - at an ECU behind the glove compartment. The 'skid control ecu' connector on that model-year's wiring diagram is labelled 'stop' and is much more accessible (assuming it is that same cold-side which would be sensible to me). I think it is pin 14 on the ECU connector. However, the diagram I read this off of was for the 'skid control ecu' (i.e. ABS ecu?). There are a bunch of ECU's on the truck and I am not confident I have assessed this correctly b/c I can fid a 4WD ecu but no skid control ecu. Again my real interest is in the stoplight cold-side circuit which I need to feed to the controller. If I can also find the reverse that would be great so I could ru that back to the 7-pole connector at the rear of the truck. I've seen the reverse circuit called out on the driver-side kickpanel ID2 connector but my Tacoma looks different than the thread I found.I've attached some visuals that lead me to my conclusions/confusion(?) and you'll see they are helpful but in the case of the ECU locations the 'skid control ecu' isn't directly listed on the visual.
So the questions boil down to two:
(1) Is the skid control ecu the same as the 4WD ecu (if not what is the location of the skid control ecu)?
(2) Is it reasonable to tap off the cold-side circuit at a location other than the brake control switch? Is there a danger I am unaware of (e.g. could it harm the operation of the Anti-lock brake system even if the splice is done properly)
Thanks in advance for any help!
Note - My truck already has the 4-wire harness installed by the factory (not the full tow package) so many of the other wires I require are already fed to the existing 4-pron trailer conneector at the back of the truck. For the back of the truck I bought a 7-pole+4-pole unit that has two harness branches (one that plugs directly into my existing 4-pole) and a second that feeds those 4-pole wires to the 7-pole connector). That second harness branch also has additiojal pigtail wires to feed the other 3-prongs of the 7-pole.

 

Not sure what that module location diagram is for what you have but it's not a 2nd gen tacoma.

The Skid Control ECU (ABS Module) is under the hood.

The easiest place to get what you need would be the T7 (Towing Brake Controller) connector (it's kind of hidden) if it's there, if you don't have the tow package it may not be but it's worth checking.
Pin 4 (Blue) is the Stop Light Switch wire.

 

Thanks for the info. Yes I will look for that connector though I read posts that said it is very difficult to find said electronic controller connector. Folks talk about blindly yanking on things at the driver-side kick-plate rat-nest of wiring to try and pull something down and that seemed an awful idea to me. As well, since I did find my 4-wire tow package connector for the 4-pole at that kick-plate area (it had no additional, unused wires) I thought I had found all that my truck offered. Indeed, when I shopped for aftermarket trailer options specific to my model year and earlier all I could find were 4-prong products. So I figured Toyota didn't think about the world of 7-prong connectors until later on. But I will look again.
So I need to run dedicated wire from the engine compartment anyways to feed the batter (+) to the brake controller ( w/ an in-line 30 amp fuse). Perhaps just adding a second wire from the under-the-hood skid control ecu wouldn't be problematic? I don;t quite know how to get them through the engine firewall other than through where the existing wire harness(es) pass. It is a very tight fit. It there a mechanics trick to snaking new wires through there without butchering existing wires?

 

https://www.tacomaworld.com/threads/the-tacoma-towing-bible.4031/

 

The 7 way plug was standard on Tacoma's with the tow package, all others just had the 4 way but alot of times some connectors are there even if the truck isn't equipped with a particular feature.
If you indeed have that connector it would be handy as you would likely just need to plug a fuse into the TOWING BRK slot and you would have your power feed on Pin 2 (Black).

I ran my aftermarket wires through next to the hood cable but they are pretty small.
As far as the Stop Switch signal wire there are plenty of places to tap into it, the next easiest if you don't have the T7 connector is either connector DB (Pin 3 (Blue) or Pin 14 (Blue)) or DD (Pin 5 (Blue) or Pin 13 (Blue)) at the Instrument Panel J/B No 1 behind the left kick panel.